gdown --id 1paqYra8mbryVsoXAiJCImXXE0qFGxC0N # pytorch_waymo_dataset, https://drive.google.com/file/d/1paqYra8mbryVsoXAiJCImXXE0qFGxC0N/view?usp=sharing
gdown --id 1O7uzcPBQHNAcmAcmcS6TRbLqiIDE3D0y # ckpts, will be updated at next time
